/**
  ******************************************************************************
  * @file    Project/STM32F4xx_StdPeriph_Template/stm32f4xx_it.c 
  * @author  MCD Application Team
  * @version V1.1.0
  * @date    18-January-2013
  * @brief   Main Interrupt Service Routines.
  *          This file provides template for all exceptions handler and 
  *          peripherals interrupt service routine.
  ******************************************************************************
  * @attention
  *
  * <h2><center>&copy; COPYRIGHT 2013 STMicroelectronics</center></h2>
  *
  * Licensed under MCD-ST Liberty SW License Agreement V2, (the "License");
  * You may not use this file except in compliance with the License.
  * You may obtain a copy of the License at:
  *
  *        http://www.st.com/software_license_agreement_liberty_v2
  *
  * Unless required by applicable law or agreed to in writing, software 
  * distributed under the License is distributed on an "AS IS" BASIS, 
  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
  * See the License for the specific language governing permissions and
  * limitations under the License.
  *
  ******************************************************************************
  */

/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_it.h"
#include "delay.h"
#include "dynamixel/dynamixel.h"
#include "task.h"
#include "imu.h"

/** @addtogroup Template_Project
  * @{
  */

/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/

/* Private function prototypes -----------------------------------------------*/
/* Private functions ---------------------------------------------------------*/

/******************************************************************************/
/*            Cortex-M4 Processor Exceptions Handlers                         */
/******************************************************************************/

/**
  * @brief   This function handles NMI exception.
  * @param  None
  * @retval None
  */
void NMI_Handler(void)
{
}

/**
  * @brief  This function handles Hard Fault exception.
  * @param  None
  * @retval None
  */
void HardFault_Handler(void)
{
  /* Go to infinite loop when Hard Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Memory Manage exception.
  * @param  None
  * @retval None
  */
void MemManage_Handler(void)
{
  /* Go to infinite loop when Memory Manage exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Bus Fault exception.
  * @param  None
  * @retval None
  */
void BusFault_Handler(void)
{
  /* Go to infinite loop when Bus Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles Usage Fault exception.
  * @param  None
  * @retval None
  */
void UsageFault_Handler(void)
{
  /* Go to infinite loop when Usage Fault exception occurs */
  while (1)
  {
  }
}

/**
  * @brief  This function handles SVCall exception.
  * @param  None
  * @retval None
  */
void SVC_Handler(void)
{
}

/**
  * @brief  This function handles Debug Monitor exception.
  * @param  None
  * @retval None
  */
void DebugMon_Handler(void)
{
}

/**
  * @brief  This function handles PendSVC exception.
  * @param  None
  * @retval None
  */
void PendSV_Handler(void)
{
}

/**
  * @brief  This function handles SysTick Handler.
  * @param  None
  * @retval None
  */
void SysTick_Handler(void)
{
	TimingDelay_Decrement();
}

//static uint32_t timm_cnt = 0;
void TIM3_IRQHandler(void)
{
	if(TIM_GetITStatus(TIM3,TIM_IT_Update)==SET)
	{
		time_to_request=SET;
		TIM_ClearITPendingBit(TIM3,TIM_IT_Update);
//		if(timm_cnt++%50==0)
//		{
//		  GPIO_ToggleBits(GPIOB, GPIO_Pin_14);
//		}
	}
}

void USART6_IRQHandler(void)
{
	if(USART_GetITStatus(USART6, USART_IT_IDLE) != RESET)
	{
        USART6->SR;
        USART6->DR;
        DMA_Cmd(DMA2_Stream1,DISABLE);
        DMA_ClearFlag(DMA2_Stream1,DMA_FLAG_TCIF1);
        imu_recv_len = MAX_IMU_PACKET_LEN - DMA_GetCurrDataCounter(DMA2_Stream1);
        memcpy(RxPkt.buf, imu_dma_rx_data, imu_recv_len);
        DMA_SetCurrDataCounter(DMA2_Stream1, MAX_IMU_PACKET_LEN);
        DMA_Cmd(DMA2_Stream1,ENABLE);
		//Packet_Decode(USART_ReceiveData(USART6));
		//USART_ClearITPendingBit(USART6, USART_IT_RXNE);
//		while(USART_GetFlagStatus(USART2, USART_FLAG_TC) == RESET){}
//		USART_SendData(USART2, USART_ReceiveData(USART6));
	}
}

void USART3_IRQHandler(void)
{
	if(USART_GetITStatus(USART3, USART_IT_RXNE) != RESET)
	{
		TaskPkt_Decode(USART_ReceiveData(USART3));
		USART_ClearITPendingBit(USART3, USART_IT_RXNE);
//		while(USART_GetFlagStatus(USART2, USART_FLAG_TC) == RESET){}
//		USART_SendData(USART2, USART_ReceiveData(USART6));
	}
}

/******************************************************************************/
/*                 STM32F4xx Peripherals Interrupt Handlers                   */
/*  Add here the Interrupt Handler for the used peripheral(s) (PPP), for the  */
/*  available peripheral interrupt handler's name please refer to the startup */
/*  file (startup_stm32f40xx.s/startup_stm32f427x.s).                         */
/******************************************************************************/

/**
  * @brief  This function handles PPP interrupt request.
  * @param  None
  * @retval None
  */
/*void PPP_IRQHandler(void)
{
}*/

/**
  * @}
  */ 


/************************ (C) COPYRIGHT STMicroelectronics *****END OF FILE****/
